/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */

#include <node_adders/utilities.h>

namespace node_adders {
gtsam::Matrix Covariance(const gtsam::SharedNoiseModel& robust_gaussian_noise) {
  return dynamic_cast<gtsam::noiseModel::Gaussian*>(
           dynamic_cast<gtsam::noiseModel::Robust*>(robust_gaussian_noise.get())->noise().get())
    ->covariance();
}
}  // namespace node_adders
